Multi robotok

Multi robots

Introduces the single-axis robot, multi-robot.

Operation where 1 controller runs multiple single-axis robots.

The advantage of multi-axis controller operation.
Sequence control is simple! System upgrades are inexpensive.
More compact and saves more space than when operating multiple single-axis controllers.

Allows more sophisticated control.
Multi-axis controllers RCX221/RCX240 provide mixed control of the (linear single-axis) PHASER series and FLIP-X series.




01 4-row circular arc groove type 2-point contact guide that is resistant to large moment load is adopted. Note 1


4-row circular arc groove type 2-point contact guide with less differential slip is used for the linear guide. This guide has less ball differential slip due to its structure when compared to the 2-row Gothic arch type 4-point contact guide and maintains a satisfactory rolling movement even if a large moment load is applied or the installation surface precision is poor. The guide has characteristics that are difficult to malfunction, such as unusual wear and provides excellent reliability.


F/N/B typeNote 2

For the F type, N type, and B type, two guide frames are laid out on the high rigidity aluminum extruded material frame. Two bearing units per rail, four bearing units in total, support a large load firmly. As a large moment load is mainly converted into vertical force, the moment applied to one bearing unit becomes small to ensure excellent durability.



F8 series

The F8 series uses a newly developed module guide to greatly reduce the crosssectional area (70 % when compared to F10). The rail is laid out in the full width of the frame to ensure the high rigidity even with compact design. Of course, this series also uses the 4-row circular arc groove type 2-point contact guide.

Note 1. Except for T4L/T4LH and T5L/T5LH
Note 2. Except for F8 series/F10/B10.



02 Resolver with excellent environment resistance is used for the position detector.

A resolver is used for the position detector. The resolver has a simple and rigid structure without using electronic components and optical elements. Detection problems due to electronic component breakdown, dew condensation on or oil sticking to the disk that may occur in optical encoders do not occur in the resolver. The resolver provides excellent durability. Additionally, as the absolute specifications and incremental specifications use the same mechanical specifications and common controller, desired specifications can be selected only by setting parameters. Furthermore, even when the absolute battery is consumed completely, the robot can still operate as the incremental specifications. So, even if a trouble occurs, the line stop is not needed to ensure the safe production line. Furthermore, the backup circuit has been completely renovated and now has a backup period of one year in the non-energizing state.




03 Long service life greatly reduces the maintenance cost.

As the acceleration is determined by the weight parameter, the service life can be assured when the weight and position of center of gravity are known.




YAMAHA's robot uses high rigidity ball screw or guide, it provides excellent durability.
This greatly contributes to reduction of the customer's maintenance cost.



04 Controllers suitable for applications are prepared.

In addition to the robot program operation and pulse train control, a positioner that is operated by specifying a point number was added to the product lineup. Additionally, multi specifications that control multiple robots using one controller are also supported. You can select an optimal controller suitable for your application.


05 Various custom specifications are supported.


YAMAHA supports custom orders flexibility to meet the customers' various needs.

Addition of free slider Free slider is added. Various applications, such as rigidity increase or use of two heads are supported.
Wide slider To increase the slider rigidity, the standard slider is processed to the wide slider.
Specified stroke A stroke smaller than the minimum stroke may be supported. For details, please consult YAMAHA.
Lead beyond catalog The lead may be changed to that not stated in the catalog. For details, please consult YAMAHA.
Origin non-motor specifications Even when not stated in the catalog, the origin may be changed to the non-motor side. For details, please consult YAMAHA.

YAMAHA has a wide variety of custom order results other than those shown above. If you have any requirement or request, please feel free to contact YAMAHA.



Various data





Robot settings


2-unit robot setting

Using a multi-task program along with this 2-unit setting allows asynchronous independent operation. Using this along with an auxiliary axis setting allows even more freedom in assigning axes to tasks.

Main auxiliary axis setting

Use this auxiliary axis setting when simultaneous movement with the MOVE command is impossible. An axis set for the mainauxiliary axis moves only by the DRIVE command (axis separate movement command) and cannot operate from the MOVE command. Using this setting is recommended for operating on an axis that is not synchronized with the main robot.

Dual setting

Make this set ting when operating dual -drive (2-axis simultaneous control).
Use this dual-drive setting on gantry type Cartesian robots having a long Y axis stroke when stabilizing at high acceleration/deceleration or when high-thrust is needed with high loads.

Double carrier

This setting allows adding 2 motors to 1 axis on robot types where the motor unit runs separately such as the linear motor single-axis PHASER series or the N-type (nut rotation type) FLIP-X series.


  1 to 2 axes controller
Name RCX221 RCX222
Position detection Incremental Absolute
Control model FLIP-X and PHASER can be mixed. FLIP-X
Maximum number of programs 100 programs
Maximum number of points 10,000 points
Number of input/output points Standard Dedicated input 10 points/dedicated output 12 points
General-purpose input 16 points/general-purpose output 8 points
Expansion General-purpose input 24 points/general-purpose output 16 points
Network option CC-Link, DeviceNetTM, Ethernet, PROFIBUS
  1 to 4 axes controller
Name RCX340
Position detection Incremental/Absolute
Control model FLIP-X and PHASER can be mixed.
Maximum number of programs 100 programs
Maximum number of points 30,000 points
Number of input/ output points Standard Dedicated input 8 points/
dedicated output 9 points
General-purpose input 16 points/
general-purpose output 8 points
Expansion General-purpose input 24 points/
general-purpose output 16 points
Network option CC-Link, DeviceNetTM, Ethernet/IPTM, Ethernet, PROFIBUS, PROFINET


Multi-robot ordering method



Note. See each controller page for info on how to write the controller and controller options when ordering.